# AprilTags relocalization with tags on walls

Source: https://forum.modalai.com/topic/2462/apriltags-relocalization-with-tags-on-walls
Category: VOXL 2 and VOXL 2 Mini (https://forum.modalai.com/category/26/voxl-2-and-voxl-2-mini)
Tags: voxl-2
Posted: 2023-07-20 17:41:46 UTC by madswamp
Replies: 1 · Views: 673

## madswamp · 2023-07-20 17:41:46 UTC

Hello devs, 

I have been testing the relocalization with apriltags and I have noticed that it only works with tags on the ground (if both roll and pitch  are less than 10 º off).
I was wandering if there is a fast way to change the already existing code to be able to also use tags on the walls, or is it better to do the detections myself and publish them to the fixed frame pipe.
I also noticed that in the version 1.0 of the VOXL SDK the ***en_fixed_frame_pipe*** parameter no longer exist, is the user-provided localization option still being implemented in this new version?

Thank you.

## Reply by Chad Sweet (ModalAI staff) · 2023-07-23 01:17:03 UTC

Here's the location database source code. You should be able to figure out how to configure from this

https://gitlab.com/voxl-public/voxl-sdk/services/voxl-tag-detector/-/blob/master/server/locations.c